version: 66.06
glider: 523
mission: 4
dive: 647
start: 7 5 113 17 50 17
data:
$ID,523
$MISSION,4
$DIVE,647
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,520
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51859
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2118.95
$TGT_DEFAULT_LON,-15758
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-49037.773
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,70
$PITCH_MAX,3840
$C_PITCH,2640
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3847
$ROLL_DEG,40
$C_ROLL_DIVE,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.423622
$PRESSURE_SLOPE,0.00011597706
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042940481
$SEABIRD_T_H,0.00062789384
$SEABIRD_T_I,2.2877364e-05
$SEABIRD_T_J,2.3382993e-06
$SEABIRD_C_G,-10.032345
$SEABIRD_C_H,1.1112347
$SEABIRD_C_I,0.0036120038
$SEABIRD_C_J,-0.00017978948
$GPS1,174241,2107.134,-15747.951,17,0.9,17,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-75.0
$GPS2,175000,2107.081,-15747.930,17,0.8,17,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,95.4,8972,-16.7,-9.036
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-78.20,0.000,6,0.000,0.000,25,1972,3396,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.5,-5.1,13,118,9.48,2.28,0.00,0.000,4,0.216,0.051,2392,547,3397,0,0,0,0,0,0
$GC,174,-0.74,-146.0,19.0,-14.9,25,181,0.00,2.20,0.00,0.000,6,0.000,0.035,2384,1953,3398,0,0,0,0,0,0
$GC,344,-0.74,-146.0,41.7,-12.5,56,351,0.00,2.33,0.00,0.000,4,0.000,0.055,2384,548,3399,0,0,0,0,0,0
$GC,444,-0.74,-146.0,55.3,-11.9,74,452,0.00,2.20,0.00,0.000,6,0.000,0.035,2375,1957,3399,0,0,0,0,0,0
$GC,785,-0.74,-146.0,91.7,-10.4,126,789,0.00,2.28,0.00,0.000,4,0.000,0.060,2365,3368,3400,0,0,0,0,0,0
$GC,1033,-0.74,-146.0,117.3,-9.9,148,1038,0.12,2.25,0.00,0.000,6,0.145,0.046,2397,1955,3401,0,0,0,0,0,0
$GC,1361,-0.74,-146.0,146.0,-9.4,178,1365,0.00,2.22,0.00,0.000,4,0.000,0.055,2397,546,3402,0,0,0,0,0,0
$GC,1616,-0.74,-146.0,164.5,-3.5,201,1620,0.00,2.15,0.00,0.000,6,0.000,0.033,2390,1963,3402,0,0,0,0,0,0
$GC,1943,-0.74,-146.0,185.9,-8.5,231,1947,0.00,2.20,0.00,0.000,4,0.000,0.056,2379,3357,3403,0,0,0,0,0,0
$GC,1975,-0.74,-146.0,189.4,-10.1,233,1982,0.00,2.25,0.00,0.000,6,0.000,0.047,2379,1958,3403,0,0,0,0,0,0
$GC,2294,-0.74,-146.0,217.8,-7.7,254,2298,0.00,2.25,0.00,0.000,4,0.000,0.056,2379,543,3403,0,0,0,0,0,0
$GC,2495,-0.74,-146.0,231.0,-5.7,263,2500,0.12,2.15,0.00,0.000,6,0.160,0.034,2403,1957,3403,0,0,0,0,0,0
$GC,2819,-0.74,-146.0,247.2,-6.7,279,2823,0.00,2.30,0.00,0.000,4,0.000,0.054,2403,542,3402,0,0,0,0,0,0
$GC,2904,-0.74,-146.0,255.5,-10.5,283,2908,0.00,2.17,0.00,0.000,6,0.000,0.035,2396,1962,3402,0,0,0,0,0,0
$GC,3232,-0.74,-146.0,285.6,-7.4,299,3236,0.00,2.30,0.00,0.000,4,0.000,0.054,2396,541,3402,0,0,0,0,0,0
$GC,3380,-0.74,-146.0,294.0,-4.7,305,3385,0.00,2.15,0.00,0.000,6,0.000,0.036,2386,1956,3402,0,0,0,0,0,0
$GC,3696,-0.74,-146.0,306.6,-4.0,317,3700,0.00,2.30,0.00,0.000,4,0.000,0.055,2386,535,3402,0,0,0,0,0,0
$GC,3774,-0.74,-146.0,311.8,-7.0,318,3780,0.00,2.20,0.00,0.000,6,0.000,0.037,2376,1965,3401,0,0,0,0,0,0
$GC,4108,-0.74,-146.0,336.9,-7.8,327,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1965,3400,0,0,0,0,0,0
$GC,4432,-0.74,-146.0,362.9,-8.0,335,4436,0.00,2.30,0.00,0.000,4,0.000,0.056,2377,545,3398,0,0,0,0,0,0
$GC,4674,-0.74,-146.0,383.1,-8.1,340,4678,0.12,2.20,0.00,0.000,6,0.153,0.038,2400,1965,3397,0,0,0,0,0,0
$GC,5019,-0.74,-146.0,404.6,-5.9,349,5024,0.00,2.25,0.00,0.000,4,0.000,0.058,2392,3363,3395,0,0,0,0,0,0
$GC,5069,-0.74,-146.0,407.8,-6.0,350,5073,0.00,2.22,0.00,0.000,6,0.000,0.045,2391,1946,3395,0,0,0,0,0,0
$GC,5391,-0.74,-146.0,426.8,-5.9,358,5395,0.00,2.30,0.00,0.000,4,0.000,0.063,2392,538,3393,0,0,0,0,0,0
$STATE,5405,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5405,begin apogee
$GC,5414,-0.17,0.0,428.0,6.1,358,5540,0.60,0.00,122.45,0.729,6,0.114,0.000,2579,1988,2800,0,0,0,0,0,0
$STATE,5541,end apogee,CONTROL_FINISHED_OK
$STATE,5541,begin climb
$GC,5544,0.74,146.0,428.2,0.0,361,5682,0.85,2.33,127.05,0.706,4,0.074,0.058,2876,3387,2202,0,0,0,0,0,0
$GC,5851,0.74,146.0,394.3,10.8,368,5855,0.00,2.22,0.00,0.000,6,0.000,0.042,2886,1979,2198,0,0,0,0,0,0
$GC,6170,0.75,154.0,365.2,8.7,376,6184,0.00,2.33,7.35,0.574,4,0.000,0.057,2886,3386,2170,0,0,0,0,0,0
$GC,6214,0.75,154.0,360.9,10.4,377,6218,0.00,2.22,0.00,0.000,6,0.000,0.046,2895,1980,2169,0,0,0,0,0,0
$GC,6539,0.75,154.0,329.8,9.4,385,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1979,2166,0,0,0,0,0,0
$GC,6844,0.75,154.0,295.0,12.2,393,6848,0.00,2.28,0.00,0.000,4,0.000,0.059,2895,3386,2165,0,0,0,0,0,0
$GC,6917,0.75,154.0,284.6,14.8,396,6921,0.00,2.25,0.00,0.000,6,0.000,0.048,2905,1973,2165,0,0,0,0,0,0
$GC,7238,0.75,154.0,246.2,10.2,412,7242,0.00,2.25,0.00,0.000,4,0.000,0.067,2914,573,2164,0,0,0,0,0,0
$GC,7277,0.75,154.0,241.9,11.5,414,7282,0.12,2.22,0.00,0.000,6,0.132,0.041,2879,1991,2164,0,0,0,0,0,0
$GC,7604,0.79,192.7,215.7,7.4,430,7645,0.00,2.30,33.45,0.611,4,0.000,0.063,2879,3389,2013,0,0,0,0,0,0
$GC,7698,0.81,201.6,208.1,8.7,434,7714,0.00,2.25,9.25,0.535,6,0.000,0.048,2885,1982,1977,0,0,0,0,0,0
$GC,8032,0.81,201.6,179.1,9.6,461,8036,0.00,2.28,0.00,0.000,4,0.000,0.061,2885,3388,1974,0,0,0,0,0,0
$GC,8140,0.81,201.6,167.6,10.2,470,8147,0.00,2.28,0.00,0.000,6,0.000,0.048,2893,1981,1973,0,0,0,0,0,0
$GC,8467,0.87,252.7,141.4,6.9,501,8517,0.00,2.33,44.67,0.552,4,0.000,0.060,2893,3395,1769,0,0,0,0,0,0
$GC,8555,0.91,285.8,135.2,7.7,508,8592,0.12,2.28,30.65,0.532,6,0.072,0.047,2975,1978,1633,0,0,0,0,0,0
$GC,8910,0.91,285.8,90.9,13.2,541,8915,0.15,2.28,0.00,0.000,4,0.130,0.062,2940,569,1631,0,0,0,0,0,0
$GC,8929,0.91,285.8,88.3,13.9,542,8933,0.00,2.22,0.00,0.000,6,0.000,0.038,2940,1991,1631,0,0,0,0,0,0
$GC,9260,0.91,285.8,48.5,11.6,596,9267,0.00,2.28,0.00,0.000,4,0.000,0.064,2940,3384,1630,0,0,0,0,0,0
$GC,9393,0.91,285.8,32.4,11.4,620,9401,0.00,2.25,0.00,0.000,6,0.000,0.048,2948,1983,1630,0,0,0,0,0,0
$STATE,9716,end climb,SURFACE_DEPTH_REACHED
$STATE,9716,begin surface coast
$FINISH,0.7,0.999057
$STATE,9747,end surface coast,CONTROL_FINISHED_OK
$STATE,9747,begin surface
$SM_CCo,9765,7.80,0.380,0,0,1575,300.24
$SM_GC,1.68,0.00,0.00,7.80,0.000,0.000,0.380,29,1949,1575,-8.16,-0.23,300.24
$IRIDIUM_FIX,2054.83,-15846.64,290902,151531
$TT8_MAMPS,0.027612
$HUMID,68.42
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,23.70
$XPDR_PINGS,2
$24V_AH,24.4,55.502
$10V_AH,10.1,61.062
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.100,94.600,374.875,7.800,0.000,24.208,62.504,199.263,18.000,0.000,18.010,1268.389,5589.582,410.328,2362.767,576.192,0.000,1258.877,0.000,2311.567,0.000,111.529,0.000
$DEVICE_MAMPS,216.294,230.100,729.417,379.665,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,466.093,394.407,1367.709,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,37979,686
$CAP_FILE_SIZE,109888,0
$CFSIZE,260165632,223342592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050713,203428,2107.128,-15747.089,38,0.8,38,9.8